Stable Object Reorientation using Contact Plane Registration
Richard Li,Carlos Esteves,Ameesh Makadia,Pulkit Agrawal,Richard Li,Carlos Esteves,Ameesh Makadia,Pulkit Agrawal
We present a system for accurately predicting stable orientations for diverse rigid objects. We propose to overcome the critical issue of modelling multimodality in the space of rotations by using a conditional generative model to accurately classify contact surfaces. Our system is capable of operating from noisy and partially-observed pointcloud observations captured by real world depth cameras. ...
